Inductive Power Transfer (IPT) technology has received extensive application research due to its safety and convenience. As a circuit topology with high efficiency and high controllability, dual active bridge (DAB) has been used in IPT system in recent years. In high-power applications, the EMI generated by the power device switch becomes more significant, which in turn negatively affects the efficiency and even the stability of the IPT system. There are several ways to reduce EMI. This article studies from the perspective of zero voltage switching (ZVS) of the DAB. When the duty cycle of the full bridge changes, the soft switching may not be maintained. This paper calculates and analyzes the ZVS operating range of the system under different situations. On this basis, a control method is proposed to achieve ZVS in the full power range of the system by adjusting the bilateral load angle. And the efficiency and stability of the system are improved. The correctness of the above theory and control method is verified through simulations.